Photogrammetric Robot Control
An experimental system consisting of an industrial robot and a photogrammetric online system
was set up to verify the approach and demonstrate the fundamental feasibility. For further
information see in the publication folder or write an
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Goal of this research was the investigation of novel measurement and control procedures for robots.
The robot control is to be coupled with a photogrammetric measurement system, which determines
the current position and orientation of the end-effector. Within a control loop, this data
is used to correct the position and orientation of the end effector and thereby increase
accuracy. For the reason of long-term effects, like wear and tear, the robot must be
reprogrammed after a certain amount of time. This causes considerable stand stills which are
associated with high costs. Linking a photogrammetric measurement system to the robot control
software enables automation or avoidance of the reprogramming task.
The following figure gives an overview of the robot pose measurement process by using
the photogrammetric resection process.
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